Abstract
This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.
| Original language | English |
|---|---|
| Pages (from-to) | 381-387 |
| Number of pages | 7 |
| Journal | IEEJ Journal of Industry Applications |
| Volume | 3 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 2014 |
Fingerprint
Keywords
- IMU sensor
- Mobile device power assisted control
- Walking motion estimation
ASJC Scopus subject areas
- Energy Engineering and Power Technology
- Automotive Engineering
- Electrical and Electronic Engineering
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
Novel walking assist device based on mobile manipulator and inertial measurement unit. / Yang, Chuan; Murakami, Toshiyuki.
In: IEEJ Journal of Industry Applications, Vol. 3, No. 5, 2014, p. 381-387.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Novel walking assist device based on mobile manipulator and inertial measurement unit
AU - Yang, Chuan
AU - Murakami, Toshiyuki
PY - 2014
Y1 - 2014
N2 - This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.
AB - This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.
KW - IMU sensor
KW - Mobile device power assisted control
KW - Walking motion estimation
UR - http://www.scopus.com/inward/record.url?scp=84982788257&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84982788257&partnerID=8YFLogxK
U2 - 10.1541/ieejjia.3.381
DO - 10.1541/ieejjia.3.381
M3 - Article
AN - SCOPUS:84982788257
VL - 3
SP - 381
EP - 387
JO - IEEJ Journal of Industry Applications
JF - IEEJ Journal of Industry Applications
SN - 2187-1094
IS - 5
ER -